Arm driving apparatus
A first transmission path includes a joint rotation member (13A) provided in a joint (J1) of an arm (Ar) and rotatable around a first axial line (Ax1), and a connection shaft portion (14A) that transmits rotation of an electric motor (11A) to the joint rotation member (13A). A second transmission path includes a joint gear (13B) provided in the joint (J1) of the arm (Ar) and rotatable around the first axial line (Ax1), and a connection shaft portion (14B) that transmits rotation of another electric motor (11B) to the joint gear (13B). Both of the connection shaft portion (14A) and the connection shaft portion (14B) are rotatable around the first axial line (Ax1), and the connection shaft portion (14B) is disposed on the inner side of the connection shaft portion (14A). The joint gear (13B) is kept in engagement with a joint gear (15B) rotatable around a second axial line (Ax2) intersecting with the first axial line (Ax1). According to this structure, two movements of the arm (Ar) are permitted, and besides the exercise performance of the arm (Ar) can be improved.
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The present invention relates to an arm driving apparatus that is utilized for driving of an arm provided on a robot.
BACKGROUND ARTAs exemplified in Japanese Laid-Open Patent Application No. 2000-237985A, an electric motor for moving an arm is utilized in many robots. A joint of an arm is sometimes configured such that the arm can be moved in a plurality of directions. For example, in a robot that imitates a person or an animal, an arm can be moved in the forward and backward directions with respect to the body or can be moved in the leftward and rightward directions with respect to the body. In order to allow movements of an arm in two directions, two axes are provided at a joint such that the arm can be pivoted around each axis. In order to implement movements of an arm in two directions in this manner, two electric motors are required.
SUMMARYIf an electric motor is provided on an arm itself, then the weight of the arm is increased and high force (torque) is required to move the arm. Accordingly, even in the case where two electric motors are required in order to drive an arm, if the two electric motors can be disposed collectively on the body or the like of a robot, then the weight of the arm itself can be reduced and the exercise performance of the arm can be enhanced.
One embodiment of the arm driving apparatus proposed by the present disclosure includes a driving source unit including a first electric motor and a second electric motor, an arm including a first joint connected to the driving source unit, a first transmission path provided in the arm and configured to transmit rotation of the first electric motor, and a second transmission path provided in the arm and configured to transmit rotation of the second electric motor. The first transmission path includes a first joint rotation member provided in the first joint of the arm and rotatable around a first axial line and a first connection unit rotatable around the first axial line, connected to the first joint rotation member and configured to transmit rotation of the first electric motor to the first joint rotation member. The second transmission path includes a second joint rotation member provided in the first joint of the arm and rotatable around the first axial line and a second connection unit rotatable around the first axial line, connected to the second joint rotation member and configured to transmit rotation of the second electric motor to the second joint rotation member. One of the first connection unit and the second connection unit is disposed on an inner side of the other of the first connection unit and the second connection unit. At least one joint rotation member from between the first joint rotation member and the second joint rotation member is kept in engagement with a rotation member that is rotatable around a second axial line that intersects with the first axial line.
According to this arm driving apparatus, at least two movements of the arm can be implemented, and the two electric motors can be positioned closer to each other to improve the exercise performance of the arm.
In the following, an embodiment of an arm driving apparatus proposed by the present disclosure is described.
The arm driving apparatus 1 includes an arm Ar and a driving source unit P as depicted in
In the example of the arm driving apparatus 1, the arm Ar is configured for four movements as hereinafter described in detail. In particular, the first arm unit Ar1 can move around a first axial line Ax1 depicted in
[Transmission Path A] The transmission path A transmits rotation of the electric motor 11A to the arm Ar to implement a movement of the arm Ar (refer to R1 of
As depicted in (b) of
As depicted in
In the example of the arm driving apparatus 1, the connection shaft portion 14A is formed integrally with the joint rotation member 13A. The driving gear 12A is fitted to the outer side of the connection shaft portion 14A and fixed to an end portion of the connection shaft portion 14A. As depicted in (a) of
The connection shaft portion 14A is formed cylindrically. On the inner side of the connection shaft portion 14A, connection shaft portions 14B, 14C and 14D of the transmission paths B, C and D hereinafter described are disposed. The structure for connecting the driving gear 12A and the joint rotation member 13A is not limited to the example of the arm driving apparatus 1. For example, the connection shaft portion 14A may be formed as a separate member from the joint rotation member 13A. Further, the connection shaft portion 14A and the driving gear 12A may be formed integrally. As depicted in
In the example of the arm driving apparatus 1, the first joint J1 includes a joint holder 31 that supports thereon a rotation member (more particularly, a support shaft 33 hereinafter described) that configures the first joint J1. The joint holder 31 is attached to the joint rotation member 13A and is rotatable around the first axial line Ax together with the joint rotation member 13A. Accordingly, if the electric motor 11A is driven, then the driving gear 12A, connection shaft portion 14A, joint rotation member 13A, indirect holder 31 and support shaft 33 rotate integrally to implement a movement of the arm Ar around the first axial line Ax1, namely, a movement in a direction of the arrow mark R1 depicted in
In the example of the arm driving apparatus 1, the joint rotation member 13A is positioned closer to the driving source unit P than joint gears 13B, 13C and 13D hereinafter described and is attached to the joint holder 31. In particular, as depicted in
The arm driving apparatus 1 includes an encoder 3A for detecting an angle of the first arm unit Ar1 in a circumferential direction around the first axial line Ax1. In the example of the arm driving apparatus 1, a gear 39 that rotates integrally with the driving gear 12A around the first axial line Ax1 is attached to the driving gear 12A as depicted in (b) of
[Transmission Path B] The transmission path B transmits rotation of the electric motor 11B to the arm Ar to implement of a movement of the arm Ar (refer to R2 of
As depicted in (b) of
As depicted in
As described hereinabove, also the electric motor 11A of the transmission path A is disposed such that the rotary shaft 11a thereof is directed in the direction of the first axial line Ax. As depicted in (a) of
As depicted in
As depicted in
In the example of the arm driving apparatus 1, the connection shaft portion 14B is formed integrally with the joint gear 13B. The driving gear 12B is fitted to the outer side of an end portion of the connection shaft portion 14B. As depicted in
As depicted in
As depicted in
As depicted in
The joint gears 13B and 15B may not necessarily be bevel gears if they are structured such that rotation of the driving gear 12B around the first axial line Ax1 can be converted into rotation around the second axial line Ax2. For example, the joint gears 13B and 15B may be face gears or worm gears.
The arm driving apparatus 1 includes an encoder 3B for detecting an angle of the first arm unit Ar1 in a circumferential direction around the second axial line Ax2. As depicted in
[Transmission Path C] The transmission path C transmits rotation of the electric motor 11C to the arm Ar to implement a movement of the second arm unit Ar2 around the third axial line Ax3 described hereinabove (refer to
As depicted in
As depicted in (b) of
As depicted in
The joint rotation member 13A, joint gear 13B and driving gears 12A and 12B of the transmission paths A and B described hereinabove are disposed between the joint gear 13C and the driving gear 12C in the direction of the first axial line Ax1. The connection shaft portions 14A and 14B described above are formed cylindrically. The connection shaft portion 14C is disposed on the inner side of the connection shaft portions 14A and 14B. The opposite ends of the connection shaft portion 14C project from the connection shaft portions 14A and 14B, and the joint gear 13C and the driving gear 12C are fixed to the opposite ends of the connection shaft portion 14C. The inner face of the connection shaft portion 14B and the outer face of the connection shaft portion 14C may contact directly with each other, or a bearing may be disposed between them. Further, in the case where the inner face of the connection shaft portion 14B and the outer face of the connection shaft portion 14C contact directly with each other, lubricating oil may be filled between them.
In the example of the arm driving apparatus 1, the connection shaft portion 14C is formed integrally with the joint gear 13C. The driving gear 12C is fitted to the outer side of the connection shaft portion 14C. As depicted in
As depicted in
As depicted in
In particular, as depicted in
In the example of the arm driving apparatus 1, as depicted in
It is to be noted that the joint gears 13C, 15C and 16C that configure the transmission path C may not necessarily be bevel gears if they can convert rotation around the first axial line Ax1 of the driving gear 12C into rotation around the third axial line Ax3. For example, the joint gears 13C, 15C and 16C may be face gears. Further, the second joint J2 may include an elastic member (for example, a spring) for assisting a movement of the second arm unit Ar2 around the third axial line Ax3.
As depicted in
The first arm unit Ar1 includes an encoder 3C for detecting the angle (rotational position) of the second arm unit Ar2 in a circumferential direction around the third axial line Ax3. In the example of the arm driving apparatus 1, the encoder 3C is fitted to the outer side of the second shaft portion 21b of the connection shaft portion 21C and is attached to the first portion 21b of the shaft portion holder 32 as depicted in
[Transmission Path D] The transmission path D transmits rotation of the electric motor 11D to the arm Ar to implement of a movement of the second arm unit Ar2 (refer to an arrow mark R4 of
As depicted in (b) of
The transmission path D includes joint gears 13D, 15D and 16D provided in the first joint J1 as depicted in
The joint gear 13D is connected to the driving gear 12D such that it rotates integrally with the driving gear 12D. More particularly, as depicted in
As depicted in
As depicted in
The structure for connecting the driving gear 12D and the joint gear 13D is not limited to the example of the arm driving apparatus 1. For example, the connection shaft portion 14D and the joint gear 13D may be formed separately from each other. Otherwise, the connection shaft portion 14D may be formed integrally with the driving gear 12D.
As depicted in
As depicted in
As depicted in
In the example of the arm driving apparatus 1, the first arm unit Ar1 has a connection shaft portion 21D rotatable integrally with the joint gear 16D around the third axial line Ax3. The joint gear 16D is formed integrally with an end portion of the connection shaft portion 21D. The joint gear 16D and the connection shaft portion 21D may be formed separately from each other. As depicted in
As depicted in
As described hereinabove, the arm driving apparatus 1 includes a driving source unit P including a plurality of electric motors (11A, 11B, 11C or 11D), an arm Ar including a joint J1 connected to the driving source unit P, a first transmission path (A, B, C or D) provided on the arm Ar for transmitting rotation of the electric motor (11A, 11B, 11C or 11D), and a second transmission path (A, B, C or D) provided in the arm Ar for transmitting rotation of the electric motor (11A, 11B, 11C or 11D). The first transmission path includes a first joint rotation member provided in the joint J1 of the arm Ar and rotatable around a first axial line Ax, and a first connection unit rotatable around the first axial line Ax1 and connected to the first joint rotation member for transmitting rotation of the first electric motor to the first joint rotation member. Here, the first joint rotation member is one of the joint rotation member 13A and the joint gears 13B, 13C and 13D described hereinabove, and the first connection unit is a connection shaft portion connected to the first joint rotation member from among the connection shaft portions 14A, 14B, 14C and 14D described above. The second transmission path includes a second joint rotation member provided in the first joint J1 and rotatable around the first axial line Ax1, and a second connection unit rotatable around the first axial line Ar1 and connected to the second joint rotation member for transmitting rotation of the second electric motor to the second joint rotation member. Here, the second joint rotation member is one of the joint rotation member 13A and the joint gears 13B, 13C and 13D described hereinabove and besides is a member different from the first joint rotation member. For example, in the case where the first joint rotation member is the joint rotation member 13A, the second joint rotation member is one of the joint gears 13B, 13C and 13D. The second connection unit is a connection shaft portion connected to the second joint rotation member from among the connection shaft portions 14A, 14B, 14C and 14D described hereinabove. One of the first connection unit and the second connection unit is disposed on the inner side of the other of the first connection unit and the second connection. Further, the first joint rotation member and the second joint rotation member are lined up in the direction of the first axial line Ax1, and at least one of the first joint rotation member and the second joint rotation member is kept in engagement with a rotation member (15B, 15C or 15D) rotatable around a second axial line Ax2 that intersects with the first axial line Ax.
According to this arm driving apparatus 1, both of the first connection unit and the second connection unit are rotatable around the first axial line. Further, one of the first connection unit and the second connection unit is disposed on the inner side of the other one of the first connection unit and the second connection unit. Since the positions of the two electric motors can be disposed nearer to each other by this, the two electric motors can be collectively disposed, for example, in the body portion of a robot. In the example of the arm driving apparatus 1, the four electric motors 11A, 11B, 11C and 11D are disposed in a circumferential direction around the axial line Ax1. As a result, in comparison with an alternative structure in which, for example, the electric motors are disposed in the arm, the weight of the arm Ar can be reduced and the exercise performance of the arm Ar can be improved. Further, in the arm driving apparatus 1, since at least one rotation member from between the first joint rotation member (13A, 13B, 13C or 13D) and the second joint rotation member (13A, 13B, 13C or 13D) is kept in engagement with the rotation member (15B, 15C or 15D) rotatable around a second axial line Ax2 intersecting with the first axial line Ax1, two movements of the arm can be implemented. For example, a movement of the arm around the first axial line Ax1 and a movement of the arm Ar around the second axial line Ax2 intersecting with the first axial line Ax1 can be implemented.
The present invention is not limited to the arm driving apparatus 1 described above and may be changed in various manners. For example, the arm driving apparatus 1 includes the four transmission paths A, B, C and D. The number of transmission paths may be smaller than four or may be greater than four. Further, the arm driving apparatus 1 has, as a joint rotation member, the joint rotation member 13A and the joint gears 13B, 13C and 13D that rotate integrally with the joint holder 31. However, the arm driving apparatus 1 may not necessarily include the joint rotation member 13A. Further, the arm Ar may not necessarily have the second arm unit Ar2.
Claims
1. An arm driving apparatus, comprising:
- a driving source unit including a plurality of motors, each rotatable about a respective motor rotation axis parallel to the axes of the other motors;
- an arm connected to the driving source unit and including a joint connected to the driving source unit, an arm unit having a length extending from the joint, the arm unit being rotatable with the joint about a first joint axis parallel to the motor rotation axes, with the joint about a second joint axis perpendicular to the motor rotation axes, and along the length about a third joint axis perpendicular to the second joint axis;
- first, second and third joint rotation members provided in the joint and rotatable about the first joint axis, each by rotation of a respective one of the plurality of motors;
- a fourth joint rotation member provided in the joint and rotatable about the third joint axis;
- first and second rotation members provided in the joint and rotatable about the second joint axis; and
- first, second and third transmission paths in the arm,
- the first transmission path including the first joint rotation member, and effecting the arm unit rotation with the joint about the first joint axis,
- the second transmission path including the second joint rotation member engaged with the first rotation member, and effecting the arm unit rotation with the joint about the second joint axis,
- the third transmission path including the third joint rotation member engaged with the second rotation member and the second rotation member engaged with the fourth joint rotation member, and effecting the arm unit rotation along the length about the third joint axis.
2. The arm driving apparatus according to claim 1, wherein
- the joint is a first joint,
- the arm includes a second joint connected to the first joint,
- the arm unit is a first arm unit and the length extends between the first and second joints, and
- the arm includes a second arm unit extending from the second joint; and
- the apparatus further includes:
- a fifth joint rotation member, provided in the first joint and rotatable about the first joint axis by rotation of one of the plurality of motors,
- a sixth joint rotation member, provided in the first joint and rotatable about the third joint axis,
- a third rotation member, provided in the first joint and rotatable about the second joint axis, and a fourth transmission path in the arm, the fourth transmission path including the fifth joint rotation member engaged with the third rotation member and the third rotation member engaged with the sixth joint rotation member.
3. The arm driving apparatus according to claim 2, wherein
- the second arm unit is rotatable with the second joint about a fourth joint axis perpendicular to the third joint axis; and
- the apparatus further includes a seventh joint rotation member provided in the second joint and rotatable about the fourth joint axis, and the fourth transmission path further includes the sixth joint rotation member engaged with the seventh joint rotation member and effecting the second arm unit rotation with the second joint about the fourth joint axis.
4. The arm driving apparatus according to claim 1, further comprising a holder unit holding a member including the joint and rotatable around the first joint axis, wherein at least one of the joint rotation members rotatable around the first joint axis is connected to the holder unit and is rotatable around the first joint axis together with the holder unit.
5. The arm driving apparatus according to claim 1, wherein
- the arm unit is a first arm unit and the joint is a first joint,
- the arm has a second arm unit and a second joint,
- the first arm unit is connected to the driving source unit through the first joint, and the second arm unit is connected to the first arm unit through the second joint, and
- at least one of the transmission paths transmits power to the second arm unit.
6. The arm driving apparatus according to claim 1, wherein
- the driving source unit includes:
- a first driving rotation member to which rotation of a first of the motors is inputted and which is connected to the first joint rotation member through a first connection unit; and
- a second driving rotation member to which rotation of a second of the motors is inputted and which is connected to the second of the joint rotation member through a second connection unit; and wherein
- both of the driving rotation members are rotatable around the first joint axis.
7. The arm driving apparatus according to claim 6, wherein the first driving rotation member and the first joint rotation member are positioned between the second driving rotation member and the second joint rotation member, in a direction along the first joint axis.
8. The arm driving apparatus according to claim 7, wherein the first connection unit is cylindrical, and the second connection unit is disposed on an inner side of the first connection unit.
9. The arm driving apparatus according to claim 8, wherein
- the driving source unit includes a third driving rotation member to which rotation of a third of the motors is inputted and which is connected to the third joint rotation member through a third connection unit disposed on an outer side of at least one of the first connection unit and the second connection unit or on an inner side of at least one of the first connection unit and the second connection unit, and
- the first, second and third joint rotation members are lined up in a direction of the first joint axis.
10. The arm driving apparatus according to claim 9, wherein the first, second and third motors are disposed such that rotary shafts thereof are directed in a direction along the direction of the first joint axis and are lined up in a circumferential direction around the first joint axis.
11. The arm driving apparatus according to claim 1, wherein at least one of the joint rotation members is a bevel gear.
12. The arm driving apparatus according to claim 2, wherein at least one of the joint rotation members rotatable around the first joint axis, and at least one of the joint rotation members rotatable around the third joint axis, are bevel gears.
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Type: Grant
Filed: Jul 5, 2017
Date of Patent: Jul 13, 2021
Patent Publication Number: 20190248026
Assignee: Sony Interactive Entertainment Inc. (Tokyo)
Inventor: Hiroshi Osawa (Kanagawa)
Primary Examiner: Randell J Krug
Application Number: 16/314,082
International Classification: B25J 18/04 (20060101); B25J 17/00 (20060101); B25J 9/02 (20060101); B25J 9/10 (20060101); B25J 17/02 (20060101);